Zmeu K., Nevmerzhitskiy M., Notkin B., Vara A., Kovalev V.

KONSTANTIN V. ZMEU, Ph.D, Professor, Head of Department of Industrial Production Technologies, School of Engineering, Far Eastern Federal University, Vladivostok. 8 Suhanova St., Vladivostok, Russia, 690950, е-mail: zmeu.kv@dvfu.ru
MAKSIM N. NEVMERZHITSKIY,  Postgraduate Student of Department of Industrial Production Technologies, School of Engineering, Far Eastern Federal University, Vladivostok. 8 Suhanova St., Vladivostok, Russia, 690950, е-mail: nevmerzhitskiy.mn@dvfu.ru
BORIS S. NOTKIN,  Ph.D, Researcher, Institute of Automation and Control Processes FEB RAS, Vladivostok. 5 Radio St., Vladivostok, Russia, 690041, е-mail: dr.notkin@gmail.com
ANDREY V. VARA, Researcher of Department of Industrial Production Technologies, School of Engineering, Far Eastern Federal University, Vladivostok. 8 Suhanova St., Vladivostok, Russia, 690950, е-mail:varandreyv@gmail.com
VIKTOR A. KOVALEV, Researcher of Department of Industrial Production Technologies, School of Engineering, Far Eastern Federal University, Vladivostok. 8 Suhanova St., Vladivostok, 690950, е-mail: heaven848@gmail.com

Load torque and position observer of the flexible multimass mechanism with electrical drive

Considered is the task of assessing the position of a sequential kinematics mechanism with joint flexibility. To determine the physical position of the elements of the kinematic chain with deformations in flexible joints the load torque estimation method was used. The paper contains an overview of basic approaches to the estimation of drive load torque. The load torque estimating method is proposed, applying direct speed and current signals measurements in PMSM. The proposed method is based on averaged evaluation of load torque on sliding window. The real experiments results are made on flexible multimass mechanism.

Key words: flexible joint, concentrated masses, Permanent Magnet Synchronous Motor (PMSM), position observer, load torque estimation, load torque observer, sliding window.

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